Landing in Denver International Airport?

I am taking a trip within the next month to Colorado, and am landing in the Denver International Airport. I have never been before, and am nervous about getting lost (i know, i'm a wimp). Anyway, I have been trying to study maps of the airport online, but they are always confusing. I know so far that I am for sure landing in Concourse C, because it is a Southwest Airlines flight, and am confused about how to get to baggage claim in the Jeppesen Terminal. Someone told me I have to take a train/tram like thing to get there, but on the maps, it just looks like a bridge i could walk across? and are there different levels/floors on the concourses/Jeppesen Terminal? idk, im so confused! please help :( and any pictures and maps are EXTREMELY helpful! Thank you!